ubuntu20.04编译ntd_omp的问题

吕福

已于 2024-02-05 13:48:02 修改

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于 2024-01-17 17:27:09 首次发布

本文链接：https://blog.csdn.net/lv15076050705/article/details/135645889

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ubuntu20.04编译ntd_omp的问题

- 报错

ROS2移植过程中也会出现，工作中遇见几次了，记录以下。

报错

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需修改 gicp_omp.h 以下的代码：

	  typedef pcl::PointCloud<PointSource> PointCloudSource;
      typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
      typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;

      typedef pcl::PointCloud<PointTarget> PointCloudTarget;
      typedef typename PointCloudTarget::Ptr PointCloudTargetPtr;
      typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr;

      typedef pcl::PointIndices::Ptr PointIndicesPtr;
      typedef pcl::PointIndices::ConstPtr PointIndicesConstPtr;

      typedef std::vector< Eigen::Matrix3d, Eigen::aligned_allocator<Eigen::Matrix3d> > MatricesVector;
      typedef boost::shared_ptr< MatricesVector > MatricesVectorPtr;
      typedef boost::shared_ptr< const MatricesVector > MatricesVectorConstPtr;
      
      typedef typename pcl::Registration<PointSource, PointTarget>::KdTree InputKdTree;
      typedef typename pcl::Registration<PointSource, PointTarget>::KdTreePtr InputKdTreePtr;

      typedef boost::shared_ptr< GeneralizedIterativeClosestPoint<PointSource, PointTarget> > Ptr;
      typedef boost::shared_ptr< const GeneralizedIterativeClosestPoint<PointSource, PointTarget> > ConstPtr;
      
      typedef Eigen::Matrix<double, 6, 1> Vector6d;

修改为

	  using PointCloudSource = pcl::PointCloud<PointSource>;
      using PointCloudSourcePtr = typename PointCloudSource::Ptr;
      using PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr;

      using PointCloudTarget = pcl::PointCloud<PointTarget>;
      using PointCloudTargetPtr = typename PointCloudTarget::Ptr;
      using PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr;

      using PointIndicesPtr = pcl::PointIndices::Ptr;
      using PointIndicesConstPtr = pcl::PointIndices::ConstPtr;

      using MatricesVector = std::vector< Eigen::Matrix3d, Eigen::aligned_allocator<Eigen::Matrix3d> >;
      using MatricesVectorPtr = boost::shared_ptr< MatricesVector >;
      using MatricesVectorConstPtr = boost::shared_ptr< const MatricesVector >;
      
      using InputKdTree = typename pcl::Registration<PointSource, PointTarget>::KdTree;
      using InputKdTreePtr = typename pcl::Registration<PointSource, PointTarget>::KdTreePtr;

      using Ptr = boost::shared_ptr< GeneralizedIterativeClosestPoint<PointSource, PointTarget> >;
      using ConstPtr = boost::shared_ptr< const GeneralizedIterativeClosestPoint<PointSource, PointTarget> >;


      using Vector6d = Eigen::Matrix<double, 6, 1>;

修改另一处代码：

rigid_transformation_estimation_ = 
          boost::bind (&GeneralizedIterativeClosestPoint<PointSource, PointTarget>::estimateRigidTransformationBFGS, 
                       this, _1, _2, _3, _4, _5);

修改为：

rigid_transformation_estimation_ = [this](const PointCloudSource &cloud_src,
                                                  const std::vector<int> &indices_src,
                                                  const PointCloudTarget &cloud_tgt,
                                                  const std::vector<int> &indices_tgt,
                                                  Eigen::Matrix4f &transformation_matrix)
        {
          estimateRigidTransformationBFGS(cloud_src,indices_src,cloud_tgt,indices_tgt,transformation_matrix);
        };

修改另一处代码：

boost::function<void(const pcl::PointCloud<PointSource> &cloud_src,
                           const std::vector<int> &src_indices,
                           const pcl::PointCloud<PointTarget> &cloud_tgt,
                           const std::vector<int> &tgt_indices,
                           Eigen::Matrix4f &transformation_matrix)> rigid_transformation_estimation_;

修改为：

 std::function<void(const pcl::PointCloud<PointSource> &cloud_src,
                           const std::vector<int> &src_indices,
                           const pcl::PointCloud<PointTarget> &cloud_tgt,
                           const std::vector<int> &tgt_indices,
                           Eigen::Matrix4f &transformation_matrix)> rigid_transformation_estimation_;